motor_ctrl: pid tuning data and added helper script
[ros_wild_thumper.git] / scripts / umbmark.py
1 #!/usr/bin/env python
2 # -*- coding: iso-8859-15 -*-
3 #
4 # Gazebo Position: rostopic echo -n 1 /gazebo/model_states
5 #
6 # x_err = x_real - x_odom
7 # y_err = y_real - y_odom
8 # phi_err = phi_real - phi_odom
9 #
10 # x_cg_cw/ccw: avg x_err
11 # y_cg_cw/ccw: avg y_err
12 #
13 # r_cg_cw = sqrt(x_cg_cw**2 + y_cg_cw**2)
14 # r_cg_ccw = sqrt(x_cg_ccw**2 + y_cg_ccw**2)
15 #
16 # L: length (2)
17 # D(l/r): Wheel diameter left/right
18 # b: wheelbase
19 #
20 # Wheel diameter correction:
21 # beta = (y_cg_cw + y_cg_ccw)/(-4*L)
22 # R = (L/2)/sin(beta/2)
23 # Ed = Dr/Dl*(R+b/2)/(R-b/2)
24 # Da = (Dr + Dl)/2
25 # Dl = 2/(Ed + 1) * Da
26 # Dr = 2/((1/Ed) + 1) * Da
27
28 # Wheelbase correction:
29 # alpha = (y_cg_cw - y_cg_ccw)/(-4*L) * 180/pi
30 # Eb = (90)/(90-alpha)
31 # b_new = Eb*b
32
33 import sys
34 import rospy
35 import tf
36 import actionlib
37 import operator
38 from time import sleep
39 from math import *
40 from nav_msgs.msg import Odometry
41 from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
42 from actionlib_msgs.msg import GoalStatus
43 from optparse import OptionParser
44
45
46 class UMBMark:
47         def __init__(self):
48                 rospy.init_node('umbmark')
49                 self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
50                 rospy.Subscriber("odom", Odometry, self.odom_received)
51                 self.odom_pose = None
52                 while not self.move_base.wait_for_server(rospy.Duration(5)):
53                         rospy.loginfo("Waiting for the move_base action server to come up")
54
55         def odom_received(self, msg):
56                 orientation = tf.transformations.euler_from_quaternion(msg.pose.pose.orientation.__getstate__())
57                 self.odom_pose = (msg.pose.pose.position.x, msg.pose.pose.position.y, orientation[2])
58
59         def next_pos(self, x, y, angle):
60                 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
61
62                 rospy.loginfo("Moving to (%.2f, %2f), %d°.." % (x, y, angle*180/pi))
63
64                 goal = MoveBaseGoal()
65                 goal.target_pose.header.frame_id = "base_footprint"
66                 goal.target_pose.header.stamp = rospy.Time.now()
67                 goal.target_pose.pose.position.x = x
68                 goal.target_pose.pose.position.y = y
69                 goal.target_pose.pose.orientation.x = odom_quat[0]
70                 goal.target_pose.pose.orientation.y = odom_quat[1]
71                 goal.target_pose.pose.orientation.z = odom_quat[2]
72                 goal.target_pose.pose.orientation.w = odom_quat[3]
73                 self.move_base.send_goal(goal)
74
75                 self.move_base.wait_for_result()
76
77                 if self.move_base.get_state() == GoalStatus.SUCCEEDED:
78                         rospy.loginfo("The base moved to (%.2f, %2f), %d°" % (x, y, angle*180/pi))
79                 else:
80                         rospy.logerr("The base failed to (%.2f, %2f), %d°" % (x, y, angle*180/pi))
81                         raise
82
83         def run(self, direction=-1, size=2):
84                 while self.odom_pose is None:
85                         sleep(0.1)
86                 init_pose = self.odom_pose
87                 for i in range(4):
88                         self.next_pos(size, 0, 0)
89                         self.next_pos(0, 0, direction*90*pi/180)
90                 final_pose = map(operator.sub, self.odom_pose, init_pose)
91                 print "Odom Pose: x=%.3f, y=%.3f, angle=%.3f°" % (final_pose[0], final_pose[1], final_pose[2]*180/pi)
92
93         def run_cw(self, size):
94                 self.run(-1, size)
95
96         def run_ccw(self, size):
97                 self.run(1, size)
98
99 if __name__ == "__main__":
100         parser = OptionParser()
101         parser.add_option("-l", "--length", dest="length", default=2, help="Square size")
102         (options, args) = parser.parse_args()
103
104         p = UMBMark()
105         if len(sys.argv) > 1 and sys.argv[1] == "ccw":
106                 p.run_ccw(float(options.length))
107         else:
108                 p.run_cw(float(options.length))